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《Journal of Shaanxi University of Technology(Natural Science Edition)》 2016-06
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Building D-H coordinate system analysis to robots

SUN Fu;School of Mechanical Engineering,Shaanxi Sci-Tech University;  
D-H method is used widely when analyzing robots and spatial mechanism. However,the fact that there are two joints in middle connecting rod has caused difficulty in understanding and handling in terms of building the linkage'coordinate on the previous or rear joint. On the basis of clarifying the parametric implication,the study has tried building and comparing two methods. It shows that the two methods have achieved equal results. Through examples,the study analyzes D-H parameter list and kinematical equation with the two methods and comes up with D-H coordination selection method when applying D-H coordinates analysis.
【Fund】: 陕西省教育厅科研计划项目(2013JK1038);; 陕西理工学院研究生教改项目(SLGYJG1510)
【CateGory Index】: TP241;TH112
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【Citations】
Chinese Journal Full-text Database 9 Hits
1 LI Ruixia;LI Fenxia;YANG Jieming;ZHOU Jinyang;Department of Biomedicine Engineering,Changzhi Medical College;Department of NC Engineering,Shanxi Institute of Mechanical and ElectricalEng;Research Institute of Mechano-electronic Engineering of TUT;;Workspace Analysis of Serial Robot Manipulator Based on D-H Method[J];机床与液压;2015-21
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5 Zhang Xiang;Li Lijun;Yi Chunfeng;Gao Zicheng;Peng Shaobo;School of Mechanical and Electrical Engineer,Central South University of Forestry & Technology;;Forward Kinematics Analysis of the Camellia Oleifera Picked Robot Based on the D-H Method[J];农机化研究;2014-04
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【Co-citations】
Chinese Journal Full-text Database 9 Hits
1 SUN Fu;School of Mechanical Engineering,Shaanxi Sci-Tech University;;Building D-H coordinate system analysis to robots[J];陕西理工学院学报(自然科学版);2016-06
2 ZOU Li-mei;GUO Bo;QIAN Xue-yi;;Fast inverse solution algorithm for trajectory planning of 6R robot based on L-M method[J];制造业自动化;2016-10
3 QIAN Canrong;School of Electronic Information and Electrical Engineering,Zhaoqing University;;Study on the Structure Design and Light Weight of Mobile Service Robot Manipulator[J];成都工业学院学报;2016-02
4 Yang Hanjiang;Li Lijun;Gao Zicheng;School of Mechanical and Electrical Engineer, Central South University of Forestry and Technology;;Forward kinematics analysis and experiment of hybrid harvesting robot based on screw theory[J];农业工程学报;2016-09
5 ZOU Yunfei;ZHANG Dewen;CHEN Lei;ZHANG Peng;Waterborne Transportation Institute;;Design Improvement and Performance Test of Ship Side Oil Spill Recovery System[J];武汉理工大学学报(交通科学与工程版);2016-02
6 LU Zhiguo;ZOU Ji;LIU Zuotao;LI Hongjian;LIU Wenhao;Department of Mechanical Engineering and Automation,Northeastern University;;Study of light weight manipulator with high load/weight ratio[J];河北工业科技;2016-02
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【Secondary Citations】
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